Research of wheel slippage and development of slippage detection and compensation system of mobile robot's wheel.
The repository contains experimental data, Simulink models, and Matlab scripts, which were used in research and development.
Continuation of the project at the link.
The test site represents a set of surfaces of various shapes and sizes. Each surface consists of two layers: internal and external. The internal one is responsible for the immersion effect and is of 2 types: hard ‐ without immersion and soft ‐ with immersion. The external layer differs in relief and color.
| Type 1 | Type 2 | Type 3 |
|---|---|---|
 |
 |
 |
| Surface with low traversabitity, with immersion | Surface with medium traversabitity, without immersion | Surface with high traversabitity, without immersion |
Festo Robotino v2 is used as a mobile platform. It has omni-wheels, encoders, and motor current sensors. Aruco marker is placed on the top side of Robotino to define the robot’s location via a computer vision system that is located above the test site.
Festo Robotino v2 with Aruco marker:
Top view of the test site:
@article{Belyaev2021,
title = {Slip Detection and Compensation System for Mobile Robot in Heterogeneous Environment},
journal = {IFAC-PapersOnLine},
volume = {54},
number = {13},
pages = {339-344},
year = {2021},
note = {20th IFAC Conference on Technology, Culture, and International Stability TECIS 2021},
issn = {2405-8963},
doi = {https://doi.org/10.1016/j.ifacol.2021.10.470},
url = {https://www.sciencedirect.com/science/article/pii/S2405896321019078},
author = {A.S. Belyaev and O.A. Brylev and E.A. Ivanov},
keywords = {Mobile robot, control system, terrain, slip detection, different environments},
}